WO2022205943A1 - Procédé, système et appareil de profilage de tête de collecte, et support - Google Patents

Procédé, système et appareil de profilage de tête de collecte, et support Download PDF

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Publication number
WO2022205943A1
WO2022205943A1 PCT/CN2021/132031 CN2021132031W WO2022205943A1 WO 2022205943 A1 WO2022205943 A1 WO 2022205943A1 CN 2021132031 W CN2021132031 W CN 2021132031W WO 2022205943 A1 WO2022205943 A1 WO 2022205943A1
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Prior art keywords
collection head
vehicle speed
current
working height
target
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PCT/CN2021/132031
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English (en)
Chinese (zh)
Inventor
刘飞香
程永亮
龚文忠
伍涛
周阳
朱琪
刘秦
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中国铁建重工集团股份有限公司
铁建重工新疆有限公司
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Publication of WO2022205943A1 publication Critical patent/WO2022205943A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining

Definitions

  • the present application relates to the technical field of agricultural machinery, and in particular, to a method, system, device and medium for profiling a collecting head.
  • the cotton picker is a commonly used large-scale agricultural harvesting machine. It is mainly used for cotton harvesting in large cotton fields. Due to the high efficiency of the cotton picker, a lot of labor is saved and the work efficiency of cotton picking is improved. Among them, the collection head of the cotton picker is the main working part of the cotton picker, so the working height of the collection head is the key to affecting the cleaning rate and picking efficiency of the cotton picker.
  • the acquisition head profiling system mainly obtains the target working height and the current working height collected by the angle sensor through the controller, and then adjusts the height of the acquisition head by controlling the solenoid valve according to the target working height and the current working height and the fixed lifting speed of the acquisition head. . Since the lifting speed of the collecting head has nothing to do with the vehicle speed during the harvesting operation, the excessively fast speed of the cotton picking machine will lead to the problem of the reduction of the cleaning rate. The speed of the vehicle is adjusted on the ground, so the harvesting rate of crops is reduced, and the practicability of the collecting head profiling system is reduced.
  • the purpose of this application is to provide a collection head profiling method to improve the harvest rate of crops and improve the practicability of the collection head profiling system.
  • the purpose of the present application is to further provide a collection head profiling system, device and medium.
  • the application provides a kind of acquisition head profiling method, comprising:
  • the output current is calculated according to the target height difference and the vehicle speed compensation coefficient, so that the solenoid valve controls the collection head group to adjust the height according to the output current.
  • it also includes:
  • the solenoid valve includes a lift solenoid valve for controlling the rise of the collection head group, and a lower solenoid valve for controlling the collection head group to descend
  • the method according to the target height difference and The vehicle speed compensation coefficient calculates the output current, so that the solenoid valve can control the height adjustment of the collection head group according to the output current, which specifically includes:
  • the output current is calculated according to the target height difference and the vehicle speed compensation coefficient, and the output current is sent to the lift solenoid valve, so that the The raising solenoid valve controls the collection head group to raise according to the output current.
  • the output current is calculated according to the target height difference and the vehicle speed compensation coefficient, and the output current is sent to the lowering solenoid valve, so that the The lowering solenoid valve controls the lowering of the collection head group according to the output current.
  • the method further includes:
  • the solenoid valve is controlled to raise or lower the collection head group according to the operation signal.
  • the method further includes:
  • an alarm signal is sent to the visual touch screen, so as to display the alarm signal on the visual touch screen.
  • the target working height is obtained, specifically:
  • the input target working height is obtained through the visual touch screen.
  • the present application also provides a collection head profiling system, including: a proximity switch sensor disposed on the vehicle where the collection head group is located, an angle sensor disposed on the collection head group, and the angle sensor. a controller connected with the proximity switch sensor, and a solenoid valve connected with the controller;
  • the controller is configured to acquire the target working height, the current vehicle speed sent by the proximity switch sensor, and the current working height sent by the angle sensor, calculate the vehicle speed compensation coefficient according to the current vehicle speed, and calculate the vehicle speed compensation coefficient according to the target working height and the desired working height.
  • the target height difference is calculated from the current working height
  • the output current is calculated according to the target height difference and the vehicle speed compensation coefficient, so that the solenoid valve can control the collection head group to adjust the height according to the output current.
  • the application also provides a collection head profiling device, comprising:
  • the first acquisition module is used to acquire the current vehicle speed, the target working height and the current working height of the collection head group
  • a first calculation module configured to calculate a vehicle speed compensation coefficient according to the current vehicle speed
  • a second calculation module configured to calculate the target height difference according to the target working height and the current working height
  • the third calculation module is configured to calculate the output current according to the target height difference and the vehicle speed compensation coefficient, so that the solenoid valve can control the collection head group to adjust the height according to the output current.
  • the application also provides a collection head profiling device, comprising:
  • the processor is configured to implement the steps of the above-mentioned acquisition head profiling method when executing the computer program.
  • the present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned acquisition head profiling method is realized. A step of.
  • the acquisition head profiling method provided by this application acquires the current vehicle speed, acquires the target working height and current working height of the acquisition head group, calculates the vehicle speed compensation coefficient according to the current vehicle speed, and calculates the target height difference according to the target working height and the current working height Then, the output current is calculated according to the target height difference and the vehicle speed compensation coefficient, so that the solenoid valve is controlled to raise or lower the collection head group according to the output current. Since the target height difference and the vehicle speed compensation coefficient are used to calculate the output current used to control the rise or fall of the collection head group, the output current can be adjusted according to the current vehicle speed during the profiling process of the collection head group, so as to adjust the output current of the collection head group. The speed of lifting and lowering, thus improving the harvest rate of crops and improving the practicability of the collecting head profiling system.
  • a collection head profiling system, device and medium provided by the present application correspond to the above collection head profiling method, and the effects are the same as above.
  • Fig. 1 is the flow chart of a kind of acquisition head profiling method provided by the embodiment of this application;
  • FIG. 2 is a schematic structural diagram of a collection head profiling system provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a collection head profiling device provided by an embodiment of the application.
  • FIG. 4 is a schematic structural diagram of another acquisition head profiling device according to an embodiment of the present application.
  • the core of the present application is to provide a collection head profiling method to improve the harvest rate of crops and improve the practicability of the collection head profiling system.
  • the core of the present application is to further provide a collection head profiling system, device and medium.
  • a collection head profiling method, system, device and medium can be applied to various collection machines for collecting crops.
  • the profiling method of the collection head described in this application specifically refers to that the height of the collection head is adjusted to ensure that the height of the collection head fits the ground, so that the cotton picker can profiling the topography of the cotton field. Functional Requirements.
  • FIG. 1 is a flowchart of a method for profiling a collection head provided by an embodiment of the present application. As shown in Figure 1, based on the controller, the method includes:
  • the current vehicle speed is specifically collected by the proximity switch sensor, wherein the proximity switch sensor can be deployed on the body of the cotton picker, or on the cotton picking head group of the cotton picker; the current working height is specifically collected by the angle sensor, The angle sensor is deployed on the cotton picking head group of the cotton picking machine.
  • the number of angle sensors on each cotton picking head group is not limited. In order to ensure that when a certain angle sensor works abnormally, the cotton picking machine can still perform the profiling of the collecting head. At least two angle sensors are deployed on the cotton picking head group.
  • the cotton-picking head group can be composed of at least one cotton-picking head, and the number of angle sensors deployed on each cotton-picking head is not limited. Two angle sensors are deployed on the mining head, one angle sensor is deployed on the mining head in the middle of the vehicle, and the remaining one is not deployed.
  • S12 Calculate the target height difference according to the target working height and the current working height.
  • the vehicle speed compensation coefficient and the output current can be calculated according to the corresponding relationship obtained by summarizing multiple sets of experimental data.
  • S11 and S12 do not have a sequential relationship. You can calculate the vehicle speed compensation coefficient first, and then calculate the target height difference in the order shown in Figure 1. You can also calculate the vehicle speed compensation coefficient and the target height difference at the same time. Calculate the target height difference first, and then calculate the vehicle speed compensation coefficient.
  • the controller can control the electromagnetic valves corresponding to the multiple collection head groups to realize the automatic profiling of the multiple collection head groups.
  • the controller when the controller is connected to the visual touch screen, the controller can send the current vehicle speed, target working height, current working height, output current and the lifting action of the cotton picking head group. to a visual touchscreen for easy viewing by the driver.
  • the controller and the visual touch screen are connected through the controller area network (Controller Area Network, CAN), the communication interface RS232 or RS485, the Ethernet (Ethernet), and the communication protocol Modbus-TCP.
  • the input target working height can be obtained through the visual touch screen, that is, the driver can customize the target work of each collection head group through the visual touch screen. Height, so as to meet the collection work of cotton fields in different regions and different scenarios, and ensure the clean rate of cotton fields.
  • the acquisition head profiling method provided by this application acquires the current vehicle speed, acquires the target working height and current working height of the acquisition head group, calculates the vehicle speed compensation coefficient according to the current vehicle speed, and calculates the target height difference according to the target working height and the current working height Then, the output current is calculated according to the target height difference and the vehicle speed compensation coefficient, so that the solenoid valve is controlled to raise or lower the collection head group according to the output current. Since the target height difference and the vehicle speed compensation coefficient are used to calculate the output current used to control the rise or fall of the collection head group, the output current can be adjusted according to the current vehicle speed during the profiling process of the collection head group, so as to adjust the output current of the collection head group. The speed of lifting and lowering, thus improving the harvest rate of crops and improving the practicability of the collecting head profiling system.
  • the acquisition head profiling method also includes:
  • each current working height measured by each angle sensor is collected separately, and it is judged whether all the current working heights are not in the highest position and the lowest position. In the location area, if no, it is determined that the current working height is not at the highest position and the corresponding angle sensor in the lowest position area is abnormal, if so, exit the automatic profiling, that is, exit the acquisition head profiling process as shown in Figure 1 .
  • the profiling method for the acquisition head further includes: when the current working height is not in the highest position and the lowest position area In the case of , send an alarm signal to the visual touch screen, so that the alarm signal can be displayed on the visual touch screen.
  • the corresponding angle sensor works abnormally when the current working height is not in the highest position and the lowest position area, it is possible to determine the angle in time during the acquisition head profiling process Whether the sensor works abnormally, it is convenient for maintenance personnel to conduct maintenance, which improves the use experience of the cotton picker.
  • S13 specifically includes:
  • the output current is calculated according to the target height difference and the vehicle speed compensation coefficient, and the output current is sent to the lift solenoid valve, so that the lift solenoid valve can control the collection head group to rise according to the output current.
  • the output current is calculated according to the target height difference and the vehicle speed compensation coefficient, and the output current is sent to the lowering solenoid valve, so that the lowering solenoid valve can control the lowering of the collection head group according to the output current.
  • the embodiment of the present application is provided with a lift solenoid valve and a lower solenoid valve, and the lift solenoid valve is only used to control the pick-up solenoid valve.
  • the cotton head rises and the fall solenoid valve is only used to control the cotton picking head to descend, which avoids the problem of control precision decline.
  • the acquisition head profiling method further includes:
  • the switching between manual profiling and automatic profiling can also be realized by manipulating the buttons, for example, in the case of a plurality of acquisition head groups.
  • the acquisition head group is still automatic profiling.
  • the acquisition head profiling method further includes: receiving a status signal indicating the operation or stop of the acquisition head group sent by the control button, and starting or stopping the acquisition head profiling according to the status signal method.
  • the point control method is adopted when the manual control is realized by manipulating the buttons.
  • FIG. 2 is a schematic structural diagram of a collection head profiling system according to an embodiment of the present application.
  • the collection head profiling system includes: a proximity switch sensor 10 arranged on the cotton picking machine, an angle sensor 11 arranged on the collection head group, a controller 12 connected with the angle sensor 11 and the proximity switch sensor 10, And the solenoid valve 13 connected to the controller 12 .
  • the controller 12 is used to obtain the target working height, the current vehicle speed sent by the proximity switch sensor 10 and the current working height sent by the angle sensor 11, calculate the vehicle speed compensation coefficient according to the current vehicle speed, and calculate the target height difference according to the target working height and the current working height,
  • the output current is calculated according to the target height difference and the vehicle speed compensation coefficient, so that the solenoid valve 13 can control the collection head group to adjust the height according to the output current.
  • the acquisition head profiling system includes a proximity switch sensor, an angle sensor, a controller connected with the angle sensor and the proximity switch sensor, and a solenoid valve connected with the controller.
  • the controller is used to obtain the current vehicle speed, obtain the target working height and current working height of the collection head group, calculate the vehicle speed compensation coefficient according to the current vehicle speed, and calculate the target height difference according to the target working height and the current working height. and the vehicle speed compensation coefficient to calculate the output current, so as to control the solenoid valve to raise or lower the collection head group according to the output current.
  • the output current can be adjusted according to the current vehicle speed during the profiling process of the collection head group, so as to adjust the output current of the collection head group.
  • the speed of lifting and lowering thus improving the harvest rate of crops and improving the practicability of the collecting head profiling system.
  • the acquisition head profiling method is described in detail, and the present application also provides a corresponding embodiment of the acquisition head profiling device. It should be noted that this application describes the embodiments of the device part from two perspectives, one is based on the perspective of functional modules, and the other is based on the perspective of hardware.
  • FIG. 3 is a schematic structural diagram of a collecting head profiling device according to an embodiment of the present application. As shown in Figure 3, based on the perspective of functional modules, the device includes:
  • the first obtaining module 20 is used to obtain the current vehicle speed, the target working height and the current working height of the collecting head group.
  • the first calculation module 21 is configured to calculate the vehicle speed compensation coefficient according to the current vehicle speed.
  • the second calculation module 22 is configured to calculate the target height difference according to the target working height and the current working height.
  • the third calculation module 23 is configured to calculate the output current according to the target height difference and the vehicle speed compensation coefficient, so that the solenoid valve can control the collection head group to adjust the height according to the output current.
  • it also includes:
  • the second acquisition module is used to acquire the highest position and the lowest position of the collection head group.
  • the judgment module is used for judging whether the current working height is in the highest position and the lowest position area.
  • the determining module is used for determining, if not, that the corresponding angle sensor works abnormally.
  • the third calculation module 23 specifically includes:
  • the first sending module is used to calculate the output current according to the target height difference and the vehicle speed compensation coefficient when the current working height is lower than the target working height, and send the output current to the lift solenoid valve, so that the lift solenoid valve can calculate the output current according to the output current Control the rise of the collection head group.
  • the second sending module is configured to calculate the output current according to the target height difference and the vehicle speed compensation coefficient when the current working height is higher than the target working height, and send the output current to the lowering solenoid valve, so that the lowering solenoid valve can calculate the output current according to the output current. Control the collection head group to descend.
  • the receiving module is used for receiving the operation signal sent by the control button and representing the manual ascending or descending operation of the collection head group.
  • the control module is used for controlling the solenoid valve to make the collection head group rise or fall according to the operation signal.
  • the third sending module is used for sending an alarm signal to the visual touch screen when the current working height is not within the highest position and the lowest position area, so as to display the alarm signal on the visual touch screen.
  • the acquisition head profiling device acquires the current vehicle speed, acquires the target working height and current working height of the acquisition head group, calculates the vehicle speed compensation coefficient according to the current vehicle speed, and calculates the target height difference according to the target working height and the current working height Then, the output current is calculated according to the target height difference and the vehicle speed compensation coefficient, so that the solenoid valve is controlled to raise or lower the collection head group according to the output current. Since the target height difference and the vehicle speed compensation coefficient are used to calculate the output current used to control the rise or fall of the collection head group, the output current can be adjusted according to the current vehicle speed during the profiling process of the collection head group, so as to adjust the output current of the collection head group. The speed of lifting and lowering, thus improving the harvest rate of crops and improving the practicability of the collecting head profiling system.
  • FIG. 4 is a schematic structural diagram of another acquisition head profiling device according to an embodiment of the present application. As shown in Figure 4, based on the hardware structure, the device includes:
  • the processor 31 is configured to implement the steps of the acquisition head profiling method in the above embodiment when executing the computer program.
  • the processor 31 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like.
  • the processor 31 may use at least one hardware form among digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA).
  • DSP Digital Signal Processing
  • FPGA field programmable gate array
  • PROM programmable logic array
  • PLA programmable logic array
  • the processor 31 may also include a main processor and a co-processor.
  • the main processor is a processor used to process data in the wake-up state, also called a central processing unit (CPU);
  • the co-processor is a A low-power processor for processing data in a standby state.
  • the processor 31 may be integrated with a graphics processor (Graphics Processing Unit, GPU), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen.
  • GPU Graphics Processing Unit
  • Memory 30 may include one or more computer-readable storage media, which may be non-transitory. Memory 30 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash storage devices. In this embodiment, the memory 30 is at least used to store the following computer program 301 , where, after the computer program 301 is loaded and executed by the processor 31 , the relevant steps of the acquisition head profiling method disclosed in any of the foregoing embodiments can be implemented. In addition, the resources stored in the memory 30 may also include an operating system 302, data 303, etc., and the storage mode may be short-term storage or permanent storage. The operating system 302 may include Windows, Unix, Linux, and the like. The data 303 may include, but is not limited to, data involved in the acquisition head profiling method, and the like.
  • the acquisition head profiling device may further include a display screen 32 , an input and output interface 33 , a communication interface 34 , a power supply 35 and a communication bus 36 .
  • FIG. 4 does not constitute a limitation on the acquisition head profiling device, and may include more or less components than those shown.
  • the acquisition head profiling device includes a memory and a processor.
  • the processor executes a program stored in the memory, the processor can implement the following methods: acquiring the current vehicle speed, acquiring the target working height and the current working height of the acquisition head group, And calculate the vehicle speed compensation coefficient according to the current vehicle speed, and after calculating the target height difference according to the target working height and the current working height, calculate the output current according to the target height difference and the vehicle speed compensation coefficient, so as to control the solenoid valve to raise the collection head group according to the output current. or drop.
  • the output current can be adjusted according to the current vehicle speed during the profiling process of the collection head group, so as to adjust the output current of the collection head group.
  • the speed of lifting and lowering thus improving the harvest rate of crops and improving the practicability of the collecting head profiling system.
  • the present application also provides an embodiment corresponding to a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the steps described in the foregoing method embodiments are implemented.
  • the methods in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solutions of the embodiments of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage In the medium, all or part of the steps of the methods described in the various embodiments of the present application are performed.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .

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Abstract

L'invention concerne un procédé, un système et un appareil de profilage de tête de collecte, et un support. Le procédé consiste : à acquérir une vitesse actuelle de véhicule, à acquérir la hauteur de travail cible et la hauteur de travail actuelle d'un groupe de têtes de collecte, à calculer un coefficient de compensation de vitesse de véhicule en fonction de la vitesse actuelle du véhicule, et à calculer un courant de sortie en fonction d'une différence de hauteur cible et du coefficient de compensation de vitesse de véhicule une fois que la différence de hauteur cible est calculée en fonction de la hauteur de travail cible et de la hauteur de travail actuelle de sorte à commander une vanne électromagnétique pour élever ou abaisser le groupe de têtes de collecte en fonction du courant de sortie. Puisque le courant de sortie peut être ajusté en fonction de la vitesse actuelle du véhicule pendant le processus de profilage du groupe de têtes de collecte au moyen du calcul de la différence de hauteur cible et du coefficient de compensation de vitesse de véhicule pendant le calcul du courant de sortie utilisé pour commander le groupe de têtes de collecte à monter ou à descendre, afin d'ajuster la vitesse de montée ou de descente du groupe de têtes de collecte, la vitesse de collecte d'une récolte est augmentée et la possibilité de mise en œuvre du système de profilage de tête de collecte est améliorée.
PCT/CN2021/132031 2021-04-02 2021-11-22 Procédé, système et appareil de profilage de tête de collecte, et support WO2022205943A1 (fr)

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CN112949091A (zh) * 2021-04-02 2021-06-11 中国铁建重工集团股份有限公司 一种采集头仿形方法、系统、装置及介质

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